MapAttributes.h

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/*
Copyright (c) 2013,
    Neuroinformatics and Cognitive Robotics Labs at TU Ilmenau, Germany

All rights reserved.

Copying, resale, or redistribution, with or without modification, is strictly
prohibited.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES,
EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#pragma once

#include <geometry/Rect.h>

#include <topomap/Attribute.h>

#include <utils/Stamped.h>
#include <maps/GridMap.h>

namespace viros { namespace topomap {

using namespace mira;

class MapAttribute : public Attribute
{
MIRA_OBJECT(MapAttribute)
public:

    MapAttribute() : optional(false), planner(false), localization(false) {}
    MapAttribute(const std::string& iChannel) :
        channel(iChannel), optional(false), planner(false), localization(false) {}

    static MapAttributePtr create() {
        return boost::make_shared<MapAttribute>();
    }

    static MapAttributePtr create(const std::string& iChannel) {
        return boost::make_shared<MapAttribute>(iChannel);
    }

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, Attribute);
        r.member("channel",channel,"");
        r.member("optional",optional,"");
        r.member("planner",planner,"");
        r.member("localization",localization,"");
    }
public:
    std::string channel;
    bool optional;
    bool planner;
    bool localization;
};

class RegionAttribute : public Attribute
{
MIRA_OBJECT(RegionAttribute)
public:

    RegionAttribute() {}
    RegionAttribute(const Rect2i& r) : rect(r) {}

    static RegionAttributePtr create(const Rect2i& r) {
        return boost::make_shared<RegionAttribute>(r);
    }

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, Attribute);
        r.member("rect",rect,"");
    }
public:
    Rect2i rect;
};

class CostMapAttribute : public Attribute
{
MIRA_OBJECT(CostMapAttribute)
public:

    CostMapAttribute(){}
    CostMapAttribute(const Stamped<maps::GridMap<double>>& costmap) : costmap(costmap) {}

    static CostMapAttributePtr create(const Stamped<maps::GridMap<double>>& costmap) {
        return boost::make_shared<CostMapAttribute>(costmap);
    }

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, Attribute);
        r.member("CostMap",costmap,"");
    }
public:
    Stamped<maps::GridMap<double>> costmap;
};


} } // namespace